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Calendar

All the readings in this section refer to book mentioned below:

Van de Vegte, John. Feedback Control Systems. 3rd ed. Prentice Hall, 1994.

LEC # TOPICS READINGS KEY DATES
Module 1: Control System Analysis
1 Course Introduction

Course Administration, Learning Objectives, Math Resources, Linear Algebra Quiz		 1.1, 1.2, 1.3  
2 Introduction to Control Systems

First Classification and Examples of Control Systems (Open and Closed Loop), Disturbances, Parameter Variations, Linearized Models and Block Diagrams		 1.1, 1.2, 1.3 Problem Set #1 Out
3 Control System Analysis and Design

Control System Analysis and Design, The Performance of a System, Motivations for Feedback, The Concept of Gain, Transfer Functions, Block Diagrams		 1.2, 1.4, 1.7 (to top of page 14), 3.7(Chapters 2 & 3 for reference), lecture notes  
4 Disturbances and Sensitivity

The Performance of Feedback Systems, Motivations for Feedback, Sensitivity to Parameter Variations and Model Uncertainty, Sensitivity Functions, Effects of Disturbances		 4.1, 4.2  
5 Steady-State Errors

Steady-State Errors, The Importance of Integrators as Fundamental Building Blocks and the Steady-State Disposition of Information in a Closed Loop System		 4.3, lecture notes Problem Set #1 Due

Problem Set #2 Out
6 S-Plane, Poles and Zeroes

Transient Performance and the S-Plane, Poles and Zeroes, Graphical Determination of Residues		 1.7 (from top of pg. 14), 1.8, 1.9  
7 Transient Response and Stability

System Stability, Pole Location and Time Response, First and Second Order System Signatures		 4.4  
8 Dominant Modes

Concept of a Dominant Mode, Invading Poles, High-Order Systems, The Importance of Magnitude of Residues and Time Constants of Terms		 1.8, 4.4, lecture notes Problem Set #2 Due

Problem Set #3 Out
9 Transient Response and Performance

Transient Response Performance Criteria (aka Metrics), Sources of System Zeros, Feedback Poles and Closed Loop Zeros		 5.1, 5.2  
10 Effects of Zeroes

The Effects of Adding a Zero to Various Pole Patterns, The Long Tail		 5.3 Problem Set #3 Due

Lab #1 Out
Module 2: State-Space Methods
11 State Space

The Concept of System State, State Vector Definition and State Space Representation of LTI Systems		 11.1, 11.2  
12 State Space Modeling

State Space Model for an nth Order Differential Equation, State Space Models for Transfer Functions, Examples		 11.3  
13 More State Space Modeling and Transfer Function Matrices

Transfer Functions with Zeros, Laplace Transforms for Vector/Matrix Differential Equations		 11.4 Lab #1 Due

Problem Set #4 Out
14 Quanser Model and State Transition Matrices

State Space Model of the Quanser, Homogeneous Solution of State Differential Equations and State Transition Matrices		 11.5  
15 Solutions of State Space Differential Equations

General Solution of State Space Differential Equations, Quanser Example for Constant Input		 lecture notes  
16 Controllability

Simple Examples of Controllable and Uncontrollable Systems, Formal Definition of Controllability and Controllability Conditions for Single Input Systems		 11.7 Problem Set #4 Due
17 Quiz 1

Lectures 1-15		    
18 Controllability Continued

Controllability for Systems with Multiple Inputs		 lecture notes Problem Set #5 Out
19 State Space Design

Pole Assignment with Full State Feedback, Design with Sensor Feedback		 12.1, 12.2  
Module 3: Time Domain System Design
20 Proportional Control

Effects of Proportional Control with First, Second and Third Order Systems, The Case for a Better Controller		 lecture notes  
21 Control System Design (Time Domain)

General System Analysis in the Time Domain - Introduction to the Root Locus Method, Angle and Magnitude Conditions		 6.1, 6.2 Problem Set #5 Due

Problem Set #6 Out
22 Root Locus Rules

Root Locus Rules		 6.3  
23 Root Locus Examples

Root Locus Examples		 6.4  
24 Root Locus Design

Root Loci and System Design, Pole-Zero Cancellation, Motor Position Servo with Velocity Feedback, Phase-Lead Compensator Design Using Root Loci		 6.5, 6.6 Problem Set #6 Due

Problem Set #7 Out
25 Compensator Design

Phase Lag Compensator Design Using Root Loci, Introduction to PID Control Using Root Loci		 6.7, 6.8  
Module 4: Frequency Domain System Design
26 Frequency Response Analysis

Steady State System Responses to Sinusoidal Inputs, Second Order System Example		 7.1, 7.2  
27 Polar Plots

First and Second Order Polar Plots, Other Examples		 lecture notes Problem Set #7 Due

Lab #2 Out
28 Principle of the Argument and the Nyquist Stability Criterion

Development of the Nyquist Stability Criterion		 7.3  
29 Nyquist Examples

Examples		 7.4 Lab #2 Due
30 More Nyquist Examples lecture notes  
31 Quiz 2

Lectures 16-27		   Problem Set #8 Out
32 Gain and Phase Margins

The Gain and Phase Margin Criteria and Examples		 7.6  
33 The Gain-Phase Plane and Nichols Charts

Use of Nichols Charts and Examples		 8.5  
34 Open and Closed Loop Behavior and the Second Order System Paradigm

Frequency Response Criteria Based on Second Order System Paradigm		 8.3 Problem Set #8 Due

Problem Set #9 Out
35 Bode Diagrams    
36 First and Second Order System Bode Diagrams    
37 Compensation and Bode Design   Problem Set #9 Due
38 More Bode Design    
39 Train Lecture